JPH11281738A - Target searching and tracking apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To use a flame control by an ATST without delay by slaving an active target search track apparatus(ATST) to a target while letting a primarily passive target search track apparatus(PTST) continue searching tracking. SOLUTION: A radar usability judgment apparatus 6 sends a target information to a radar apparatus 2, and the apparatus 2 directs an antenna to a target direction and stands by. The judgment apparatus 6 reads out a track limit distance of the radar apparatus to an assumed target type from a performance database 7. When the track limit distance is larger than a distance to the target, an operator 5 is informed of the usability of the apparatus and at the same time, a usability signal is sent to a sensor selection apparatus 8. When another target is to be searched continuously after the target is discovered, an emission of electromagnetic waves to the already discovered target is eliminated as much as possible, a possibility of the radar apparatus's being discovered by the target is decreased, a deception is reduced with no room left for checking a characteristic of electromagnetic waves emitted by the radar apparatus a and challenge of a missile to the radar apparatus is avoided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active target search and tracking device (hereinafter referred to as "ATST (Active Target)" which searches for and tracks a target by a reflected wave of an electromagnetic wave radiated by the device itself, such as a radar device.
"Searching and Tracking") and a passive target search and tracking device (hereinafter, "PTST") that searches for and tracks a target without emitting electromagnetic waves.
(Passive Target Searching
and Tracking)), whereby a target search and tracking device capable of effectively detecting and tracking a target can be obtained.

[0002]

2. Description of the Related Art Conventionally, radar devices and search and tracking devices using light waves have been known as devices for detecting and tracking distant targets. The radar device is a device that emits a radio wave by itself and receives a radio wave returned from a target to measure a direction, a distance, and a speed of the target. In addition, there are two main types of search and tracking devices based on light waves, a passive type and an active type. The passive type refers to infrared light emitted by a target spontaneously or the sun scattered or reflected by the target. It is a method of detecting the light from the target and measuring the direction of the target, and the active method emits a light wave such as a laser wave, for example, and receives the light wave returned by reflecting on the target, the direction of the target, This method measures target information such as distance and speed.

[0003] Such a target search and tracking device is mounted and operated on an aircraft, a vehicle, a ship, and the like. Particularly, for a fighter, a fighting vehicle, and a ship, the target to search and track, that is, discovers itself from the enemy side. There is a demand to make it difficult to be done. At this point, the ATST represented by the radar device has a problem that an enemy side can detect an electromagnetic wave radiated by the ATST.

For this reason, a device capable of searching for and tracking a target without emitting electromagnetic waves is desired. The target is detected by detecting infrared rays emitted by the target spontaneously or infrared rays from the sun or the like reflected by the target. IRST (Infra
PTSTs such as Red Search and Track are being developed.
However, in the case of PTST, it is difficult to select a weak signal by, for example, modulating a received signal in advance, and it is difficult to obtain sufficient detection limit distance performance. Therefore, long-term exposure of a narrow area increases the detection limit distance.However, when searching in this way, it takes a very long time to search a certain area, and even if tracking is possible, it can be searched Is virtually impossible. Therefore, in such a case, it is still necessary to search by the radar device.

FIG. 5 shows the configuration of a conventional apparatus. Below A
A radar device will be described as an example of the TST, and a search and tracking device using light waves will be described as an example of the PTST. 1 is a light wave search and tracking device, 2 is a radar device, 3 is a fire control instruction device, 4 is a firearm and a launch device, and 5 is an operator.
The operator 5 selects whether to use the radar device 2, the light wave search and tracking device 1, or both according to the situation, and operates the operation panel (not shown) to operate the fire control system. A command is given to the pointing device 3. The fire control command device 3 gives instructions such as searching and tracking to the lightwave search and tracking device 1 or the radar device 2 in accordance with an instruction from the operator 5, and receives information such as the direction and distance of the target when the target is detected and tracked. The information is transmitted to the operator 5 via a display such as a display, which is not shown in the drawing. In addition, the fire control instruction device 3 includes a firearm and a firing device 4.
And information of the mounted firearms, and this is also transmitted to the operator 5. The operator 5 judges the information of the on-board weapon and the target, and if, for example, decides to use the missile as the on-board weapon, gives the fire control instruction device 3 a command to fire it. In response to this, the fire control instruction device 3 inputs the target information to the firearm and the launch device 4, then a launch instruction is sent, and the missile is launched. Some of the conventional radar device 2 and light wave search and tracking device 1 each have an operation panel. Here, the operation by the operator is performed through the fire control instruction device 3.

FIG. 6 shows a detailed configuration of the lightwave search and tracking device 1 and the radar device 2. First, the radar device 2
12 is a radar search and tracking processor, 13
Is an antenna direction indicator, 14 is an antenna driving device, 15
Is an antenna, 16 is a transmitter, 17 is a receiver, and 18 is a radar target detection processor. First, the radar search and tracking processor 12 determines the pointing direction of the antenna 15 by using the antenna direction indicator 1.
3 and the antenna direction indicator 13 drives the antenna driving device 14 so that the pointing direction of the antenna 15 is directed along the search pattern. Thus, the antenna 15
, While the high-power signal generated by the transmitter 16 is radiated from the antenna 15 as a radio wave, the received radio wave is analyzed by the receiver 17, and the correlation between the received radio wave and the transmitted radio wave is obtained. The distance, speed, etc., to the object reflecting the radio wave are calculated. The radar target detection processor 18 processes the distance and velocity information and the antenna direction information obtained from the antenna direction indicator 13 to select a target from various objects such as clouds and the ground. Then, the information on the target is passed to the fire control command device 3 and the radar search and tracking processor 12, and when tracking the target, the radar search and tracking processor 12 sets the antenna direction so as to keep the antenna 15 in the direction of the target. An instruction is given to the indicator 13.

[0007] The radar apparatus 2 may have another configuration. FIG. 7 shows this. 28 is a beam forming processor,
Reference numeral 29 denotes an antenna array, which is a radar device 2 shown in FIG.
Have a fixed single directional antenna,
The radar device shown in FIG. 7 arranges a plurality of antenna elements (hereinafter, referred to as an “antenna array”), controls the phase of radio waves radiated from each antenna element, and provides directivity to the entire radiated radio waves. An active faced array radar device (hereinafter, referred to as “APAR”) ”. Since the APAR can electronically control the antenna directivity, the antenna gain direction (hereinafter, “antenna beam”) is high.
) Can be moved at high speed, and a plurality of antenna beams can be formed simultaneously.

Next, as a detailed configuration of the light wave search and tracking device 1, in FIG. 6, 19 is a light wave search and tracking processor, 20 is a camera direction indicator, 21 is a camera driving device, 22 is a camera, 23 is an image processing device, 24 Is a lightwave target detection processor. First, the lightwave search and tracking processor 19 instructs the direction of the camera 22 to the camera direction indicator 20, and the direction of the camera 22 follows the search pattern by driving the camera driving device 21. Be oriented. The image signal captured by the camera 22 is analyzed by the image processing device 23, and when a target is detected, information such as the position of the target on the screen and image characteristics is passed to the lightwave target detection processor 24, and this information is The target direction is precisely calculated from the camera's pointing direction. Then, the information on the target is passed to the fire control command device 3 and the light wave search and tracking processor 19, and when tracking the target, the light wave search and tracking processor 19 gives a camera direction instruction so as to keep the camera 22 toward the target. Command to the container 20.

[0009]

By providing both the ATST and the PTST in this manner, the search and tracking can be performed by P
Operation using TST and fire control using ATST becomes possible, and the detectability can be suppressed to some extent. However, there are still the following problems.

One is the case of fire control by PTST. Some firearms, such as missiles, cannot be fired without knowing the current position and speed of the target at the time of firing, but in principle, PTST takes time to accurately determine the distance and speed to the target, It takes a long time before a firearm can be fired even if it is captured. In addition, certain types of conventional missiles require guidance by a radar device and cannot be controlled only by the PTST, so it is necessary to search and track the target again using the radar device during fire control. It took a long time to use firearms. further,
Even if the target can be tracked by the PTST, it is not known whether the target can be detected and tracked by the radar device. Therefore, there is a problem that the operator cannot determine whether the radar device can be used.

In addition, when the target detection means of the PTST is light, there is a problem that, particularly in the case of infrared rays or the like, the atmospheric attenuation is relatively small in the sky where the air density is low, but the atmospheric attenuation is remarkable in the low sky. Also, at low altitudes,
Above the sea, the humidity is higher, and even in the same sea, the humidity increases as it approaches the equator, and the atmospheric attenuation increases. Due to such environmental factors, the detection limit distance may be significantly reduced unexpectedly in the PTST. In such a case, if the search for the target is continuously performed only by the PTST, the target may not be noticed until the target approaches the shortest distance. There was a problem that it was dangerous.

The other is A, which is typically a radar device.
This is the case of fire control by TST. Missile fire control requires accurate distance and speed measurements with radar equipment and sometimes guidance with radar equipment.
When the target is a fighter or the like, it usually has a radar warning device or a deception device, which may detect and interfere with radar radio waves. However, it takes a certain amount of time for the radar alerting device to detect the radar radio wave, and also requires a certain amount of time for the analysis because the deception device needs to analyze the radar radio wave to effectively deceive. Therefore, if the radar device constantly emits radar radio waves, the radar radio waves are detected and analyzed, and the possibility of effective deception increases. Therefore, if it is possible to track the target that has already been discovered by PTST, the radar device may be stopped and tracking may be performed with PTST.However, if the radar device is stopped and the search is interrupted, the approach of another target may be noticed. If the search is continued by the radar apparatus for fear of the danger, there is a problem that a radar wave is detected from a target tracked by the PTST.

For tracking, see Japanese Patent Application Laid-Open No. 08-21146.
Discloses a method of adjusting the irradiation of radar radio waves using a passive sensor to reduce the detectability. However, the decrease in detectability in the present invention is limited to tracking, and the detectability at the time of searching cannot be reduced.

The present invention aims at minimizing the danger of detecting radiated electromagnetic waves during a search, which is a problem of the ATST, by effectively using the PTST.
One purpose.

First, when it is necessary to control a conventional type of firearm that requires the ATST, the object is to reduce the electromagnetic radiation as much as possible by effectively using the PTST in search and tracking.

Second, when a search by the ATST is necessary, after the ATST finds one target (hereinafter, referred to as "a"), it radiates an electromagnetic wave radiated to continuously search for another target. The ATST is detected and used, and is exposed to dangers such as the attack of radar missiles from the shell, or the radiated electromagnetic waves are analyzed by the shell, and the effective deception attack from the shell makes ATST such as fire control It is an object of the present invention to continuously search for another target while preventing it from becoming unavailable when necessary.

[0017]

According to a first aspect of the present invention, there is provided a target search / tracking apparatus which includes both an ATST and a PTST search / tracking apparatus, a selection apparatus for distributing the search / tracking to an ATST or a PTST, and a PTST. A determination device for determining whether or not the target can be detected and tracked by the ATST, and causing the target to slave the ATST while continuing the detection and tracking mainly by the PTST;
If the fire control by ATST is necessary, it can be performed without delay.

Further, the target search and tracking apparatus according to the second invention has an altitude / latitude / longitude sensor, a clock for obtaining a season, and a database for calculating atmospheric transmittance, and is a basic search. While the tracking is performed by the PTST, an estimated value of the detection limit distance of the PTST is constantly calculated, and when the estimated value is small, the search tracking is switched to the ATST, so that when the detection limit distance is short unexpectedly, PT
It is possible to avoid the danger caused by continuing the search and tracking by only the ST.

Further, in the target search and tracking device according to the third invention, both the ATST and the PTST search and tracking devices are provided.
ATST detection by having an antenna direction comparator for detecting whether the difference between the target direction tracked by the PTST and the antenna directing direction of the ATST is within a certain value, and controlling ON / OFF of the electromagnetic wave radiation of the ATST. PTST takes over tracking the target that was set
The radio wave of ST is not radiated, and the searchability of the target can be reduced while continuing the search for ATST.

Further, in the target search and tracking apparatus according to the fourth aspect of the present invention, in order to obtain the same effect even when the ATST of the third aspect is an APAR, the radio wave radiating direction before the actual radio wave radiation direction of the APAR is obtained. A beam direction comparator for detecting whether or not the direction is the same as the direction of the target tracked by the PTST, so that the detectability from the target can be reduced as in the third invention.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 illustrates Embodiment 1 of the present invention. Hereinafter, a target search and tracking device mounted on a fighter will be described as an example, and a lightwave search and tracking device will be described as a PTST, and a radar device will be described as an ATST. 1 to 5 are the same as the conventional apparatus shown in FIG. Reference numeral 6 denotes a radar use availability determination device, 7 denotes a radar device performance database that gives radar performance specifications to the radar use availability determination device 6, and 8 denotes a sensor selection device.

First, the operator 5 sets an assumed target type in the sensor selection device 8. The expected target type is
This is one of the target types classified as “fighter”, “transport aircraft”, “large commercial aircraft”, and the like. Unless otherwise specified, “fighter” is set as a normal value.

The search is performed by the operator 5 by the fire control instruction device 3.
Is started by instructing a search to the fire control command device 3
Then, a search start instruction is issued to the sensor selection device 8 together with the search range instruction, and the sensor selection device 8 issues a search range instruction and a search start instruction to the lightwave target search and tracking device 1.

When the target is detected and the direction and the distance are calculated in the search by the lightwave target search and tracking device 1, the information is sent to the target radar availability determination device 6. At this time, the distance to the target may not be obtained, and in that case, only the target direction information is sent. The radar availability judging device 6 sends information on the target direction to the radar device 2, and the radar device 2 directs the antenna to the target direction and stands by. Next, the radar availability determination device 6 reads the tracking limit distance of the radar device for the assumed target type from the radar device performance database 7. The radar device performance database 7 includes a set of an assumed target type and a typical limit distance that can be tracked, and is created according to the actually measured performance of the radar device 2. Usually, since the tracking limit distance of the radar device is related to the size of the target aircraft, the tracking limit distance increases in the order of “fighter” <“transport aircraft” <“large commercial aircraft”. The tracking limit distance for the assumed target type is compared with the distance to the target calculated by the lightwave target search and tracking device 1, and if the tracking limit distance is larger than the distance to the target, the operator 5 can use the radar device. At the same time, a signal indicating that the radar can be used is also sent to the sensor selection device 8.

Accordingly, the sensor selecting device 8 sends the radar control 2 to the radar device 2 when an instruction for fire control requiring the radar device such as tracking by the radar device or an illumination instruction is issued from the fire control command device 3. Necessary instructions can be transmitted, and the fire control instruction device 3 can be transmitted similarly to the conventional device.
The radar device 2 performs operations for tracking a target and controlling the fire such as illumination, and issues a fire instruction to the firearm and the firing device 4 to use the firearm. In FIG. 1, in order to clearly show the operation of the sensor selection device 8, although slightly different from the actual configuration, a signal passed from the fire control instruction device 3 to the sensor selection device 8 is transmitted by a switch to the lightwave target search and tracking device 1, the radar, and the like. The image is drawn so that it can be connected to the device 2 or both.

When the distance information to the target is not given from the lightwave target search / tracking device 1 to the radar usability judging device 6, the radar usability judging device 6 reserves the judgment until the distance information comes. The determination is reserved, and a fire control command requiring the radar device 2 is issued to the sensor selection device 8 from the fire control device 3 to the sensor selection device 8 in a state where no radar enable signal is given to the sensor selection device 8. If
That is, when the operator 5 intentionally instructs the fire control command device 3 to use the firearm, the sensor selection device 8 inquires the radar use availability determination device 6 about the radar availability, and the radar availability determination device 6 uses the radar device. 2 is instructed to emit radio waves in the target direction. At this time, the target direction information given to the radar device 2 is transmitted from the lightwave target search and tracking device 1 to the radar availability determination device 6.
Is corrected after a lapse of time in the target direction information given to the output.

Thus, the radar device 2 emits radio waves for a short time, determines whether or not the target can be tracked, and returns tracking determination to the radar use determination device 6. At this time, the distance measurement value may be returned to the radar availability determination device 6 instead of the tracking availability determination, and the tracking availability determination may be performed by the radar availability determination device 6 using this value. Of course, when the target cannot be detected, the distance measurement information indicating that the target cannot be detected is returned. Subsequent steps are the same as when the distance is obtained by the lightwave target search and tracking device 1.

By adopting the above-described configuration, it is possible to prevent the electromagnetic waves from being radiated or to use the electromagnetic waves for a very short time even if they are used in the search for the target. At the same time, by quickly activating the slave device that is being slaved during fire control, a conventional firearm that requires a radar device can be used without delay. At the same time, since much of the power consumption of the ATST that emits electromagnetic waves is used for target searching, PTST that does not need to emit electromagnetic waves is used for this search.
, Power consumption can be greatly reduced, and a power margin for mounting other electronic equipment can be created. In addition, in this embodiment, there is no need to make essential changes to both devices in order for the PTST and the ATST to cooperate, and both devices can be used as a single unit. Can be used as a component of this configuration.

The radar device performance database 7 in this embodiment may be built in the radar device 2, or the radar availability judging device 6 and the sensor selection device 8 may be built in the fire control instruction device 3, The unit may be realized by software.

Embodiment 2 FIG. FIG. 2 illustrates a second embodiment of the present invention. FIG. 2 is basically the same as FIG. 1, and the components indicated by the same numbers function in the same manner.
2 are an altitude / latitude / longitude sensor 9, a clock 10, and an atmospheric transmittance database 11 connected to the sensor selection device 8.

First, the air transmittance of light will be briefly described. Light scatters and attenuates upon various particles in the atmosphere. By clarifying the calculation model of the amount and attenuation of particles in the atmosphere, the atmospheric attenuation rate can be calculated.
Particles in the atmosphere include molecules such as oxygen and nitrogen, water vapor, fine sand particles such as yellow sand, and fine crystals of seawater salts.These particles are not uniform throughout the atmosphere, and are not It depends on whether it is above or on the land, in the tropics or in the boreal, and whether the season is summer or winter. Particularly significant effects are altitude, latitude and longitude, and season.Particle density is measured at various altitudes, latitude and longitude, and seasons. Atmospheric transmittance can be calculated from latitude, longitude and season. Such databases are also commercially available.

The sensor selecting device 8 includes the altitude and latitude / longitude information of the self-machine measured by the altitude / latitude / longitude sensor 9, the date or season transmitted from the clock 10, and the search transmitted from the fire control instruction device 3. Using the direction range information,
For each direction within the range, the lightwave target search and tracking device 1
Permeability Database 1
Calculate using the data of 1. The standard amount of infrared radiation emitted by the assumed target is recorded corresponding to each assumed target type in the radar device performance database 7, and the sensor selecting device 8 attenuates the infrared radiation emitted from the target by the atmospheric transmittance. Then, an estimated value of a limit distance at which the lightwave target search and tracking apparatus 1 cannot detect a target, that is, an estimation value of a detection limit distance is calculated. Next, the sensor selection device 8 determines, for an area in which the estimated value of the detection limit distance is equal to or more than the required detection limit distance described later,
As described in the first embodiment, the lightwave target search and tracking device 1 is preferentially used for searching in that direction, and the radar device 2 is used for searching in other areas. The required detection limit distance is the distance to the surface or the sea surface in the search direction if there is, otherwise the distance from the straight line extended in the search direction to the intersection with the set altitude. When the distance exceeds the distance, the distance is set to the constant value. The constant value is a minimum detection limit distance required during a search, and the set altitude is a maximum altitude at which a normal aircraft can fly, and these are preset values. This is because when the PTST is mounted on an aircraft, the detection distance cannot be beyond the surface of the earth when the search direction is downward, and the climb limit altitude of the aircraft is usually increased even when the search direction is upward. This is because if the search direction is upward or downward, even if the PTST is in an environmental condition in which the detection limit distance is reduced, there is no problem in searching for the target in that direction.

By adopting the above configuration, the conventional target search and tracking device is automatically used when the detection limit distance of the PTST which is preferentially used in the search cannot achieve the desired performance due to environmental factors. Since the search is switched to the ATST, the detection limit distance can be maintained at a certain value or more, and the danger of continuing operation without noticing that the detection limit distance is extremely short can be avoided. If the search range can be divided by PTST and ATST, the search time is shortened, and the repetition cycle of scanning the search range is shortened. Therefore, a target that can be detected immediately after scanning is not found until the next scan. In this state, the so-called target missing time is reduced, or the search range can be widened in the same scanning cycle.

Embodiment 3 FIG. 3 illustrates a third embodiment of the present invention. 1, 2 and 12 to 24
Is the same as the conventional device shown in FIG. 25 is an information transmission device, 26 is an antenna direction comparator, and these two are characteristic devices in this embodiment. From the search for the target to the tracking, it is the same as a conventional radar device. When the tracking is started, the target direction, the distance,
Target information such as speed is output to the information transmission device 25. The information transmission device 25 uses target information periodically given from the radar device 2, interpolates by calculation the target information until the next target information is given, and outputs the result to the lightwave search and tracking processor 19. The lightwave search and tracking processor 19 directs the camera 22 in the target direction in accordance with the provided target information, keeps staring at the target direction until the target can be detected, and tracks the target when it is detected. When entering the target tracking state, the lightwave search and tracking processor 19 outputs the direction and distance of the tracking target to the antenna direction comparator 26. Similarly, the antenna direction comparator 26 receives the direction of the antenna from the antenna direction indicator 13 of the radar device 2, compares this with the tracking target direction of the lightwave search and tracking processor 19, and radiates the radar wave to the tracking target. If the directional relationship is too high, a stop signal of the radar wave is sent to the transmitter 16. The space area where the radar radio wave is not transmitted is called a blind area. As a result, the receiver 17 cannot receive the reflected radio wave from the target, so that the radar device 2 automatically loses sight of the target, and resumes the search. If you were in "search mode", stop tracking and continue searching)
However, since the direction of the target tracked by the lightwave target search and tracking apparatus 1 is a blind area, the same target is not again tracked. After that, the tracking of the target is continued by the lightwave target search and tracking device 1, but if the lightwave target search and tracking device 1 loses track of the target, the blind area disappears from the search range of the radar device 2, so that the target is detected by the radar device 2. Automatically re-starts radar device 2 if possible
Detected again by Also, when the light wave target search and tracking device 1 searches alone to detect a target and enters tracking, a blind area is automatically formed, thereby preventing unnecessary emission of radar radio waves. When it is necessary to use the radar device 2 when using a firearm, a cancellation signal of the comparison operation is output from the fire control device 3 to the antenna direction comparator 26,
A radar wave can be radiated, and a target tracking, an illumination, and the like can be performed by the radar device 2 similar to the conventional device.

By adopting the above configuration, when searching for another target after finding the target, electromagnetic waves are not emitted to the already found target as much as possible.
Reduces the possibility of finding yourself by the target, and even if the target discovers itself, it can be effectively deceived by not giving time to examine the characteristics of its own radiated electromagnetic waves And reduce the risk of being attacked by threats such as anti-radar missiles that target electromagnetic radiation sources. Further, since the antenna direction comparator 26 of FIG. 3 can be placed outside the radar device, the PTST and the ATS
There is no need to make substantial changes to both devices in order for T to cooperate, and both devices can be used independently, and used as components of this configuration with minor modifications of conventional devices. be able to.

In this configuration, the information transmission device 25 can also be realized by an information transmission path connecting the radar device 2 and the lightwave target search and tracking device 1 and software incorporated in the radar device 2 or the lightwave target search and tracking device 1. . Also, the antenna direction comparator 26 can be incorporated in the transmitter 16 in the form of software, or can be configured as an independent device outside the radar device 2.

Embodiment 4 FIG. FIG. 4 illustrates a fourth embodiment of the present invention. This embodiment basically aims at the same effect as that of the second embodiment, and performs the same operation for components having the same numbers as those in FIG. The difference from FIG.
27 is a beam direction comparator, 28 is a beam forming processor, 2
9 is an antenna array. The difference between the present embodiment and the second embodiment is that the radar device is not an antenna having a fixed single directivity, but a plurality of antenna elements arranged (hereinafter referred to as an “antenna array”). A so-called “active faced array radar device (hereinafter referred to as“ A ”) that controls the phase and gives directivity to the entire radiated radio wave.
PAR ")." Therefore, the antenna driving device 14 shown in FIG. 3 is not required in FIG. APA
Since R can electronically control the antenna directivity, it is characterized in that it can move the antenna in a high gain direction (hereinafter referred to as “antenna beam”) at high speed and can simultaneously form a plurality of antenna beams. Therefore, if the configuration is such that the radio wave is stopped when the antenna beam is directed to the target direction, there is a problem that the simultaneously formed antenna beam in the other direction also stops. Also,
Even if there is only one antenna beam, there is also an advantage that a scan time loss can be eliminated by skipping the antenna beam without intentionally stopping the radio wave when the antenna beam is directed to the target direction. In this embodiment,
The radar search and tracking processor 1 is operated by the beam direction comparator 27.
If the difference between the antenna beam direction command output from 2 and the target direction from the lightwave search and tracking processor 19 is less than half the antenna beam divergence angle, the antenna beam direction command for that direction is canceled. If there are any commanded antenna beam directions other than the canceled antenna beam direction, they are output to the beam forming processor 28 as they are, and the beam forming processor 28 controls the antenna array so that the antenna beam is formed in those directions. Control the phase to form the antenna beam. With respect to the canceled antenna beam, the fact that the beam is canceled is notified to the radar search and tracking processor 12, and the radar search and tracking processor 12 advances the antenna beam direction by the antenna beam width, and instructs the antenna beam formation again. I do. For this reason, the transmitter that supplies the seed signal to the antenna array does not basically stop during radar operation.

With the above configuration, the third
The same effect as that of the invention can be obtained for APAR.

[0039]

According to the first aspect of the present invention, electromagnetic waves are not radiated in a search for a target, or even if they are used, they are used only for a very short time. By quickly activating the radar device that has been set as a slave, a conventional firearm requiring the radar device can be used without delay.

According to the second aspect of the present invention, when the detection limit distance of the PTST used preferentially in the search cannot exhibit the desired performance due to environmental factors, the search by the conventional target search and tracking device, the ATST, is performed. Therefore, the detection limit distance can be maintained at a certain value or more.

According to the third aspect of the present invention, when searching for another target after finding the target, the target can discover itself by not emitting electromagnetic waves as much as possible to the already found target. Performance can be reduced.

According to the fourth aspect, the same effect as that of the third aspect can be obtained for the APAR.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of Embodiment 1 of the present invention.

FIG. 2 is a schematic configuration diagram of Embodiment 2 of the present invention.

FIG. 3 is a schematic configuration diagram of Embodiment 3 of the present invention.

FIG. 4 is a schematic configuration diagram of Embodiment 4 of the present invention.

FIG. 5 is a configuration diagram of a conventional device corresponding to FIGS. 1 and 2;

FIG. 6 is a configuration diagram of a conventional device corresponding to FIG.

FIG. 7 is a configuration diagram of a conventional device corresponding to FIG.

[Explanation of symbols]

1 Lightwave search and tracking device, 2 Radar device, 3 Fire control and control device, 4 Firearm and launch device, 5 Operator,
6 radar availability determination device, 7 radar device performance database, 8 sensor selection device, 9 altitude / latitude / longitude sensor, 10 clock, 11 atmospheric transmittance database, 1
2 radar search and tracking processor, 13 antenna direction indicator, 14 antenna driving device, 15 antenna, 16
Transmitter, 17 receiver, 18 radar target detection processor,
19 light wave search and tracking processor, 20 camera direction indicator, 2
1 camera driving device, 22 cameras, 23 image processing device, 24 lightwave target detection processor, 25 information transmission device,
26 antenna direction comparator, 27 beam direction comparator,
28 beamformer, 29 antenna array.

Claims (4)

[Claims] 1. An active target search and tracking device that radiates an electromagnetic wave to a target and receives the electromagnetic wave reflected from the target to measure target information such as a direction, a distance, and a speed of the target, and radiates the electromagnetic wave. A passive target search and tracking device that measures the direction of the target by capturing the electromagnetic wave spontaneously emitted by the target or an electromagnetic wave reflected by the target, and a control command for performing the search and tracking, the two target search and tracking devices. A selection device for outputting to any of
A determination device for controlling the selection device according to whether or not a target detected by the passive target search and tracking device can be detected and tracked by an active target search and tracking device. 2. An altitude / latitude / longitude sensor for measuring the altitude and latitude / longitude of a target search / tracking device, a clock for obtaining a season, and a database for calculating atmospheric transmittance. Calculate the detection limit distance estimation value of the passive target search and tracking device using the atmospheric transmittance data selected by longitude and season, and the estimation value of the detection limit distance is shorter than a predetermined threshold value 2. The target search and tracking device according to claim 1, wherein an active target search and tracking device is used for searching for the target. 3. An active target search and tracking device that emits an electromagnetic wave to a target and receives the electromagnetic wave reflected from the target to measure target information such as the direction, distance, and speed of the target, and emits the electromagnetic wave. A passive target search and tracking device that measures the direction of the target by capturing the electromagnetic wave spontaneously emitted by the target or the electromagnetic wave reflected by the target, and the passive target search and tracking device that is active with the target direction to be tracked by the passive target search and tracking device. Detects whether the difference between the antenna pointing directions of the target search and tracking device is within a certain value, and turns on the electromagnetic radiation of the passive target search and tracking device.
A target search and tracking device, comprising: an antenna direction comparator for performing / OFF control. 4. An electromagnetic wave is emitted to a target, and the electromagnetic wave reflected from the target is received, whereby the direction, distance,
An active target search and tracking device having an antenna that can set the gain in each direction of the antenna by arranging a plurality of antenna elements as an active target search and tracking device for measuring target information such as speed and adjusting their phases. A passive target search and tracking device that measures the direction of the target by capturing the electromagnetic wave reflected by the target and the electromagnetic wave emitted by the target spontaneously without emitting the electromagnetic wave or another electromagnetic wave source, and the above Before the actual formation of the high gain direction of the antenna of the active target search and tracking device, whether the high gain direction is oriented in the same direction as the target direction tracked by the passive target search and tracking device within a certain error range. And based on the detection result, when the target search is performed by the active target search and tracking device, a passive Goals search tracker target search tracking apparatus characterized by comprising an active target search Prevent any electromagnetic radiation due to the tracking device the beam direction comparator target direction that is tracked.